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<div class="title">random_sample.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id: extract_indices.h 1370 2011-06-19 01:06:01Z jspricke $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_RANDOM_SUBSAMPLE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter_indices.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;limits.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html">   56</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_random_sample.html">RandomSample</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::negative_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::keep_organized_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::user_filter_value_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::extract_removed_indices_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::removed_indices_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">FilterIndices&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; RandomSample&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const RandomSample&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#ada1806ec9d222b284bfe48f822fc128b">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#ada1806ec9d222b284bfe48f822fc128b">RandomSample</a> (<span class="keywordtype">bool</span> extract_removed_indices = <span class="keyword">false</span>) : </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (extract_removed_indices),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <a class="code" href="classpcl_1_1_random_sample.html#a8ab759b2b7410f25551515fc5bf16591">sample_</a> (UINT_MAX), </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <a class="code" href="classpcl_1_1_random_sample.html#ad7e14cc6ea553785a95b51683387373e">seed_</a> (static_cast&lt;unsigned int&gt; (time (NULL)))</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;RandomSample&quot;</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#a5a2b7c1c38540ddcf1bb73b7967d4a4f">   90</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#a5a2b7c1c38540ddcf1bb73b7967d4a4f">setSample</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sample)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_random_sample.html#a8ab759b2b7410f25551515fc5bf16591">sample_</a> = sample;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#a74ede65999ea19bd0fc99f165173fa38">   98</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#a74ede65999ea19bd0fc99f165173fa38">getSample</a> ()</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_random_sample.html#a8ab759b2b7410f25551515fc5bf16591">sample_</a>);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#a1438a32a663e320eefeca17035f3f12b">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#a1438a32a663e320eefeca17035f3f12b">setSeed</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> seed)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_random_sample.html#ad7e14cc6ea553785a95b51683387373e">seed_</a> = seed;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#aca3d09a61e71a1f4499e09eaf998a3ae">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#aca3d09a61e71a1f4499e09eaf998a3ae">getSeed</a> ()</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_random_sample.html#ad7e14cc6ea553785a95b51683387373e">seed_</a>);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#a8ab759b2b7410f25551515fc5bf16591">  123</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_random_sample.html#a8ab759b2b7410f25551515fc5bf16591">sample_</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#ad7e14cc6ea553785a95b51683387373e">  125</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_random_sample.html#ad7e14cc6ea553785a95b51683387373e">seed_</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#a80e183afb1624b1c37a3f5f0f01e4656">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#a80e183afb1624b1c37a3f5f0f01e4656">applyFilter</a> (std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample.html#a501acb4393ce65248b1a455ef872b119">  143</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample.html#a501acb4393ce65248b1a455ef872b119">unifRand</a> ()</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(rand () / <span class="keywordtype">double</span> (RAND_MAX)));</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="comment">//return (((214013 * seed_ + 2531011) &gt;&gt; 16) &amp; 0x7FFF);</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  };</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">  155</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_random_sample.html">RandomSample</a>&lt;pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;pcl::PCLPointCloud2&gt;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;pcl::PCLPointCloud2&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;pcl::PCLPointCloud2&gt;::getClassName</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">typedef</span> PCLPointCloud2::Ptr PCLPointCloud2Ptr;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">typedef</span> PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RandomSample&lt;pcl::PCLPointCloud2&gt; &gt; Ptr;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const RandomSample&lt;pcl::PCLPointCloud2&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5484616b833f88ec539f44bf860ecb68">  170</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5484616b833f88ec539f44bf860ecb68">RandomSample</a> () : sample_ (UINT_MAX), seed_ (static_cast&lt;unsigned int&gt; (time (NULL)))</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        filter_name_ = <span class="stringliteral">&quot;RandomSample&quot;</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a76e4840f0f87812df42646c1a892ddc6">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a76e4840f0f87812df42646c1a892ddc6">setSample</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sample)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        sample_ = sample;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3c90f7af7cf8a36886946c939cd24cb6">  187</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3c90f7af7cf8a36886946c939cd24cb6">getSample</a> ()</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">return</span> (sample_);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6345b2e89674ce370847e76a00f64702">  196</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6345b2e89674ce370847e76a00f64702">setSeed</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> seed)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        seed_ = seed;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afab53fd6a4c3bb29673f2241235afbdb">  204</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afab53fd6a4c3bb29673f2241235afbdb">getSeed</a> ()</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">return</span> (seed_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1a59820d6e2fe27271f93c00ccdb39f2">  212</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1a59820d6e2fe27271f93c00ccdb39f2">sample_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a13ab5963f5cd7efcc94d73f2bc30d4d4">  214</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a13ab5963f5cd7efcc94d73f2bc30d4d4">seed_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aedd153b5dd6e1cbbbca16eeb0e11c349">  220</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aedd153b5dd6e1cbbbca16eeb0e11c349">applyFilter</a> (<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;output);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a65397850b6a5c9d1c546576a8442def5">  226</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a65397850b6a5c9d1c546576a8442def5">applyFilter</a> (std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af7a06e1d153995c65dd75f0987ee89c4">  232</a></span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af7a06e1d153995c65dd75f0987ee89c4">unifRand</a> ()</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand () / <span class="keywordtype">double</span> (RAND_MAX)));</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="comment">//return (((214013 * seed_ + 2531011) &gt;&gt; 16) &amp; 0x7FFF);</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;   };</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;}</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/random_sample.hpp&gt;</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html"><div class="ttname"><a href="classpcl_1_1_filter_indices.html">pcl::FilterIndices</a></div><div class="ttdoc">FilterIndices represents the base class for filters that are about binary point removal....</div><div class="ttdef"><b>Definition:</b> filter_indices.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a13ab5963f5cd7efcc94d73f2bc30d4d4"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a13ab5963f5cd7efcc94d73f2bc30d4d4">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::seed_</a></div><div class="ttdeci">unsigned int seed_</div><div class="ttdoc">Random number seed.</div><div class="ttdef"><b>Definition:</b> random_sample.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a1a59820d6e2fe27271f93c00ccdb39f2"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1a59820d6e2fe27271f93c00ccdb39f2">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::sample_</a></div><div class="ttdeci">unsigned int sample_</div><div class="ttdoc">Number of indices that will be returned.</div><div class="ttdef"><b>Definition:</b> random_sample.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a3c90f7af7cf8a36886946c939cd24cb6"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3c90f7af7cf8a36886946c939cd24cb6">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::getSample</a></div><div class="ttdeci">unsigned int getSample()</div><div class="ttdoc">Get the value of the internal sample parameter.</div><div class="ttdef"><b>Definition:</b> random_sample.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a5484616b833f88ec539f44bf860ecb68"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5484616b833f88ec539f44bf860ecb68">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::RandomSample</a></div><div class="ttdeci">RandomSample()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> random_sample.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a6345b2e89674ce370847e76a00f64702"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6345b2e89674ce370847e76a00f64702">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::setSeed</a></div><div class="ttdeci">void setSeed(unsigned int seed)</div><div class="ttdoc">Set seed of random function.</div><div class="ttdef"><b>Definition:</b> random_sample.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a65397850b6a5c9d1c546576a8442def5"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a65397850b6a5c9d1c546576a8442def5">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::applyFilter</a></div><div class="ttdeci">void applyFilter(std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Sample of point indices</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a76e4840f0f87812df42646c1a892ddc6"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a76e4840f0f87812df42646c1a892ddc6">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::setSample</a></div><div class="ttdeci">void setSample(unsigned int sample)</div><div class="ttdoc">Set number of indices to be sampled.</div><div class="ttdef"><b>Definition:</b> random_sample.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_aedd153b5dd6e1cbbbca16eeb0e11c349"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aedd153b5dd6e1cbbbca16eeb0e11c349">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::applyFilter</a></div><div class="ttdeci">void applyFilter(PCLPointCloud2 &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_af7a06e1d153995c65dd75f0987ee89c4"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af7a06e1d153995c65dd75f0987ee89c4">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::unifRand</a></div><div class="ttdeci">float unifRand()</div><div class="ttdoc">Return a random number fast using a LCG (Linear Congruential Generator) algorithm....</div><div class="ttdef"><b>Definition:</b> random_sample.h:232</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_afab53fd6a4c3bb29673f2241235afbdb"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afab53fd6a4c3bb29673f2241235afbdb">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::getSeed</a></div><div class="ttdeci">unsigned int getSeed()</div><div class="ttdoc">Get the value of the internal seed parameter.</div><div class="ttdef"><b>Definition:</b> random_sample.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html"><div class="ttname"><a href="classpcl_1_1_random_sample.html">pcl::RandomSample</a></div><div class="ttdoc">RandomSample applies a random sampling with uniform probability. Based off Algorithm A from the paper...</div><div class="ttdef"><b>Definition:</b> random_sample.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_a1438a32a663e320eefeca17035f3f12b"><div class="ttname"><a href="classpcl_1_1_random_sample.html#a1438a32a663e320eefeca17035f3f12b">pcl::RandomSample::setSeed</a></div><div class="ttdeci">void setSeed(unsigned int seed)</div><div class="ttdoc">Set seed of random function.</div><div class="ttdef"><b>Definition:</b> random_sample.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_a501acb4393ce65248b1a455ef872b119"><div class="ttname"><a href="classpcl_1_1_random_sample.html#a501acb4393ce65248b1a455ef872b119">pcl::RandomSample::unifRand</a></div><div class="ttdeci">float unifRand()</div><div class="ttdoc">Return a random number fast using a LCG (Linear Congruential Generator) algorithm....</div><div class="ttdef"><b>Definition:</b> random_sample.h:143</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_a5a2b7c1c38540ddcf1bb73b7967d4a4f"><div class="ttname"><a href="classpcl_1_1_random_sample.html#a5a2b7c1c38540ddcf1bb73b7967d4a4f">pcl::RandomSample::setSample</a></div><div class="ttdeci">void setSample(unsigned int sample)</div><div class="ttdoc">Set number of indices to be sampled.</div><div class="ttdef"><b>Definition:</b> random_sample.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_a74ede65999ea19bd0fc99f165173fa38"><div class="ttname"><a href="classpcl_1_1_random_sample.html#a74ede65999ea19bd0fc99f165173fa38">pcl::RandomSample::getSample</a></div><div class="ttdeci">unsigned int getSample()</div><div class="ttdoc">Get the value of the internal sample parameter.</div><div class="ttdef"><b>Definition:</b> random_sample.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_a80e183afb1624b1c37a3f5f0f01e4656"><div class="ttname"><a href="classpcl_1_1_random_sample.html#a80e183afb1624b1c37a3f5f0f01e4656">pcl::RandomSample::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> random_sample.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_a8ab759b2b7410f25551515fc5bf16591"><div class="ttname"><a href="classpcl_1_1_random_sample.html#a8ab759b2b7410f25551515fc5bf16591">pcl::RandomSample::sample_</a></div><div class="ttdeci">unsigned int sample_</div><div class="ttdoc">Number of indices that will be returned.</div><div class="ttdef"><b>Definition:</b> random_sample.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_aca3d09a61e71a1f4499e09eaf998a3ae"><div class="ttname"><a href="classpcl_1_1_random_sample.html#aca3d09a61e71a1f4499e09eaf998a3ae">pcl::RandomSample::getSeed</a></div><div class="ttdeci">unsigned int getSeed()</div><div class="ttdoc">Get the value of the internal seed parameter.</div><div class="ttdef"><b>Definition:</b> random_sample.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_ad7e14cc6ea553785a95b51683387373e"><div class="ttname"><a href="classpcl_1_1_random_sample.html#ad7e14cc6ea553785a95b51683387373e">pcl::RandomSample::seed_</a></div><div class="ttdeci">unsigned int seed_</div><div class="ttdoc">Random number seed.</div><div class="ttdef"><b>Definition:</b> random_sample.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html_ada1806ec9d222b284bfe48f822fc128b"><div class="ttname"><a href="classpcl_1_1_random_sample.html#ada1806ec9d222b284bfe48f822fc128b">pcl::RandomSample::RandomSample</a></div><div class="ttdeci">RandomSample(bool extract_removed_indices=false)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> random_sample.h:78</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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